Mobile Robot Localization Using Wireless Sensor Based Landmark and Particle Filter

Landmarks are environmental features abstracted during SLAM for localization and mapping. However, in certain scenarios, it is difficult to extract available natural landmarks for reliable localization. In this paper, a novel localization schema is proposed based on particle filter and the wireless landmark system which combines ultrasonic ranging and radio frequency ranging. To solve the narrow emitting angular problem of ultrasonic ranging and the poor accuracy of radio frequency ranging, an adaptive range model based on wireless sensor energy distance is used, and then with the support function, we take the fusion distance from ultrasonic ranging and radio frequency ranging as observation information. Finally the robot is localized by use of this type of wireless landmarks together with the particle filter. A series of experiments are conducted in the indoor environment, and the results validate the effectiveness of the method presented in this paper.